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Документ Parametric synthesis of an electro-hydraulic executive device of a digital system of automatic control of a moving object(Національний технічний університет "Харківський політехнічний інститут", 2022) Aleksandrov, Eugene; Aleksandrova, Tetiana; Kostianyk, Iryna; Morgun, YaroslavMost modern moving objects, including military moving objects, are equipped with guidance and stabilization systems with electro-hydraulic executive devices. Intercontinental ballistic missiles, space vehicles, aircraft, the main armament of tanks and ships have high-precision digital guidance and stabilization systems with electro-hydraulic actuators with potentiometric feedback, capable of ensuring high accuracy of stabilization of a moving object in a given direction. The work is devoted to the development of a methodology for selecting the value of the feedback channel amplification coefficient, which provides the maximum margin of stability and the maximum speed of the closed digital system of guidance and stabilization of a moving object. The proposed technique is based on the application of a discrete-continuous mathematical model of a closed digital system of guidance and stabilization of a moving object, which contains ordinary differential equations for describing the disturbed motion of the continuous part of the stabilized object, as well as difference equations for describing a discrete stabilizer. To construct the characteristic equation of a closed discrete system, the mathematical model is reduced to a system of difference equations using matrix series. At the same time, the number of considered members of the matrix series depends on the value of the quantization period of the digital stabilizer, therefore, in addition to determining the amplification coefficient of the feedback channel of the executive device, the proposed technique also includes the determination of the value of the quantization period of the digital stabilizer.Документ On the stability of the stabilized motion of a carrier rocket with a liquid-propellant jet engine and an onboard digital computer in the stabilization loop(Національний технічний університет "Харківський політехнічний інститут", 2022) Aleksandrov, Eugene; Aleksandrova, Tetiana; Kostianyk, Iryna; Morgun, YaroslavThe problem of choosing the values of the variable parameters of the digital stabilizer of the cosmic stage of a carrier rocket with a liquid-propellant jet engine and an onboard digital computer in the stabilization loop, which ensures stable movement of the stage along the entire active section of the flight trajectory, is considered. The effect of the stabilizer quantization period on the stability region of a closed-loop stabilization system is considered. It is recommended to choose the intersection of stability regions corresponding to uniformly distributed moments of time along the active section of the stage flight trajectory as acceptable values for the variable parameters of the stabilizer of a non-stationary stabilization object.Документ Parametric synthesis of the electronic control unit of the course stability system of the car(ПП "Технологічний Центр", 2019) Aleksandrov, Ye. Ye.; Aleksandrova, T. Ye.; Morhun, Ya. Yu.The problem of parametric synthesis of an electronic control unit for a brake system of a car is considered, which consists in the process of choice of values of the varied parameters of electronic CU. The selected parameters should provide the maximum margin of stability and maximum velocity of the closed-loop system of automatic control of a given direction of car movement in braking mode. This is important because modern high-velocity cars, operating in conditions of low-quality road surfaces of highways, often become objects of road traffic accidents, despite the fact that they are equipped with anti-lock braking and traction control systems. In this regard, the design development of the latest models of automotive equipment is aimed at creating directional stability systems, increased vehicle dirigibility in case of loss of wheel adhesion with the road surface. The problem is solved using the method of "frozen coefficients", which is based on the iterative process of sequential selection of numerical values of the varied parameters of the electronic unit. In particular, it is found that the characteristic equation of a closed-loop stability control system contains three variable parameters, and the system itself is a two-channel one. The first control channel for the inclination angle of the car body contains variable parameters, and the second control channel for side skid contains a variable parameter. It is shown that 5–6 steps of the iterative process are sufficient to obtain optimal values of the varied parameters that provide the maximum safety margin and maximum performance of the closed-loop vehicle stability program. The work proves the effectiveness of the developed algorithms for parametric synthesis of the electronic control unit for a car, the simplicity of their implementation, as well as the high quality of stabilization processes of the car body.Документ About stability of the movement of the refueling vehicle equiped with digital system of brake forces distribution during the emergency braking(Національний технічний університет "Харківський політехнічний інститут", 2021) Aleksandrov, Ye. Ye.; Aleksandrova, T. Ye.; Morhun, Ya. Yu.The impact of enforced oscillations of the free surface of fuel in the car tank on the stability area of a closed digital brake force distribution system is considered. The object of the study is the process of stabilized movement of the tanker during the emergency braking. The subject of the study is a large tanker with a gross weight (3-3.5) *104 kg, equipped with a tank with a volume of (17-20) m3 and a system of direction stability. The goal of the work is investigation of the impact of transported fuel fluctuations on the stability of the refueling vehicle during the emergency braking and introducing of methods for selecting values of variable parameters of the electronic brake force distribution system to minimize it. Conclusion. Considering the oscillations of the free surface of the liquid in the mathematical model of disturbed movement of a closed system of stability significantly reduces the stability area of the system in the low frequency range due to the loop, the size and position of which depend on the filling level of the tank. Need to choose an envelope loop that according to different levels of tank filling.Документ О влиянии колебаний транспортируемой жидкости на область устойчивости замкнутой системы автоматического управления курсом автомобиля(Національний технічний університет "Харківський політехнічний інститут", 2021) Александров, Евгений Евгеньевич; Александрова, Татьяна Евгеньевна; Григорьев, Александр Львович; Моргун, Ярослав ЮрьевичРассмотрены существующие работы по оптимизации автомобильных систем курсовой устойчивости. Составлена математическая модель, которая описывает возмущенное движение автомобиля с цистерной. Данная математическая модель позволяет учесть колебания свободной поверхности жидкости и определить их влияние на курсовую устойчивость автомобиля при равномерном движении и во время резкого торможения. Описаны характеристики автомобиля-топливозаправщика, который использовался для проведения расчетов. Разработан алгоритм вывода характеристического уравнения для сложной системы дифференциальных уравнений, описывающей динамические изменения параметров движения автомобиля с цистерной, колебания парциальных слоев жидкости в цистерне, работу электромагнитного привода управляющего клапана и электронного ПИД-регулятора для двухконтурной системы обеспечения курсовой устойчивости. На основе разработанной математической модели исследуется влияние вынужденных колебаний жидкости на область устойчивости системы в плоскости варьируемых параметров регулятора. Показано, что низкочастотные колебания свободной поверхности жидкости приводят к значительному сокращению области устойчивости, что свидетельствует о необходимости учета таких колебаний при решении задач анализа и синтеза этой системы. Установлено, что для автомобиля с цистерной, где происходят низкочастотные поперечные колебания жидкости, которые сопровождаются перераспределением массы, что возмущает движение, увеличение курсовой скорости однозначно приводит к снижению курсовой устойчивости. Это позволило исключить эту скорость из числа варьируемых параметров и существенно упростить решаемую задачу. Проведены расчёты для разных уровней загруженности цистерны. Установлено, что уровень жидкости в цистерне, с учетом его связи со скоростью движения, оказывает неоднозначное влияние на курсовую устойчивость автомобиля, и ограничивать исследования расчетами для случая 50 % нагрузки недопустимо. Вместо этого упрощения необходимо находить линию, которая огибает сверху те границы устойчивости, которые соответствуют многим уровням жидкости.Документ Parametric synthesis of а non-stationary automatic control system of the course stability of the car(Національний технічний університет "Харківський політехнічний інститут", 2020) Aleksandrov, Eugene; Aleksandrova, T. Ye.; Kostianyk, Iryna; Yaroslav, MorgunWidely used in the practice of analysis and synthesis of automatic control systems of non-stationary dynamic systems, the method of “frozen coefficients” does not havea rigorous theoretical justification and does not always lead to the desired results. In this regard, to solve the problem of parametric synthesis of a non-stationary automatic control system of the course stability of the car, an algorithmic method is co nsidered for choosing the variable parameters of the regulators of non-stationary objects, based on the direct calculation of the additive integral quadratic quality functional that reflects the set of requirements for the automatic regulator of a non- stationary object, followed by finding the values of the variable parameters a regulator delivering a minimum of quality functional, and the required values of the weight coefficients of the additive functional.Документ To the question of constructing the regionof allowable values of variable parameters of a digital stabilizer of a movable object(Національний технічний університет "Харківський політехнічний інститут", 2020) Aleksandrov, Eugene; Aleksandrova, T. Ye.; Kostianyk, Iryna; Morgun, YaroslavSolving the problems of analysis and synthesis of closed digital systems for stabilization of movable objects is associated with significant difficulties. One of the possible ways to solve the problem is the transition from a mathematical model of a continual-discrete closed stabilization system to an approximate mathematical model of a discrete closed system using infinite matrix series containing the own matrix and the control matrix of the continuous part of the system, as well as the quantization period of the discrete part. Using the example of a closed digital stabilization system for a space stage of a solid-propellant carrier rocket flying in an airless space with a marching engine turned on, the problem of constructing stability regions of a closed digital stabilization system in the plane of variable parameters of a digital stabilizer was solved and a comparative analysis of these regions was carried out for various numbers of members of matrix seriestaken into account and different values of the digital stabilizer quantization period.